Modeling and control of fully actuated vector thrust unmanned aerial vehicles

Caiwu Ding, Lu Lu, Cong Wang, Bo Ouyang

Research output: Contribution to conferencePaperpeer-review

Abstract

This paper studies the modeling and control of a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) for aerial locomotion and manipulation. In this paper, we develop a novel fully actuated vector thrust UAV with all propellers able to tilt about two perpendicular axes, so that the thrust force generated by each propeller is a fully controllable vector in 3D space. The dynamic model of a UAV with arbitrary number of such vectorized propellers is constructed, and the control algorithm for position/orientation tracking is developed to generate the desired 6-dimensional body force wrench. To resolve the redundancy in actuation, a thrust force optimization problem minimizing power consumption while achieving the desired body force wrench is formulated. The optimization problem has the thrust vectors as variables, and is shown to be convex with linear equality constraints, so that the global minima can be easily derived. Various simulation results are presented to verify the proposed solution.

Original languageEnglish (US)
StatePublished - 2018
Event2018 International Symposium on Flexible Automation, ISFA 2018 - Kanazawa, Japan
Duration: Jul 15 2018Jul 19 2018

Conference

Conference2018 International Symposium on Flexible Automation, ISFA 2018
CountryJapan
CityKanazawa
Period7/15/187/19/18

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Modeling and control of fully actuated vector thrust unmanned aerial vehicles'. Together they form a unique fingerprint.

Cite this